A rust removal device, method, and system for U-rib interiors

Abstract

The application provides a device, a method and a system for rust removal inside U-rib, comprising: a light emitter emitting a light beam; a mirror changing the light path of the light beam; a control center receiving relevant information, analyzing and then sending an angle instruction signal; and a control assembly receiving the angle instruction signal and used for adjusting the rotating angle of the light emitter and / or the mirror, so that the light beam reflected by the mirror is adjusted to the rust removal area inside the U-rib. The rust removal device, method and system provided by the application can effectively and accurately clean the rust removal area inside the U-rib and improve the rust removal efficiency and the quality of the rust removal operation by the combination of the control center and the control assembly, for example, in the field of bridges. Furthermore, the application provides a good welding environment for welding repair of steel bridges by using the U-rib upward welding repair technology, thereby effectively ensuring the quality of the upward welding repair of the steel bridges and playing an important role in prolonging the service life of the bridges.

Description

Technical Field

[0001] This invention belongs to the field of engineering, and specifically relates to a rust removal device, method and system for the interior of U-ribs. Background Technology

[0002] U-ribs are widely used in construction, bridge building, and shipbuilding due to their advantages such as high load-bearing capacity, lightweight and stable structure, and convenient and efficient construction. Taking bridges as an example, U-ribs are specifically used in existing large orthotropic steel structure bridges. However, many older bridges were built before the advent of U-rib internal welding technology, and their U-ribs were not welded internally. Over time, this can easily lead to cracks, affecting strength and reducing service life, requiring regular maintenance. Using U-rib overhead internal welding repair technology allows for welding repairs to the inside of the U-ribs, strengthening the overall structure of the steel bridge, significantly improving bridge strength, and increasing its service life.

[0003] For old bridges that have been in service for many years, rust is inevitable inside the U-ribs. The presence of rust will directly affect the quality of welding repair of steel bridges using the U-rib overhead internal welding repair technology. Therefore, before applying the U-rib overhead internal welding repair technology, it is of paramount importance to remove the rust attached to the weld seam of the U-rib. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is how to effectively remove rust from the rust-to-be-removed area inside the U-rib.

[0005] The technical solution adopted in this invention is as follows:

[0006] A rust removal device for the interior of a U-rib, comprising:

[0007] A light emitter, used to emit a beam of light;

[0008] A reflector is used to change the optical path of the light beam by reflection;

[0009] The control center receives the angle information of the light emitter and / or the reflector, as well as the position information of the rust-to-be-removed area inside the U-rib, analyzes the information, and then sends an angle command signal.

[0010] The control component receives an angle command signal sent by the control center to adjust the rotation angle of the light emitter and / or the reflector, so that the light beam reflected by the reflector is adjusted to the rust-removing area inside the U-rib.

[0011] Furthermore, the light emitted by the emitter is laser, infrared, or ultraviolet light.

[0012] Furthermore, the rust removal device also includes a first guide rail, a first traveling mechanism, and a second traveling mechanism. The first guide rail is provided at the opening of the U-rib and along the extending direction of the U-rib. The first guide rail is connected to the first traveling mechanism and the second traveling mechanism in sequence along the extending direction of the U-rib via its guide rod. The first traveling mechanism is rotatably connected to the reflector, and the second traveling mechanism is rotatably connected to the light emitter.

[0013] Furthermore, a first servo motor is provided at one end of the first guide rail, which is used to rotate the guide rod of the first guide rail to drive the light emitter and the reflector.

[0014] Furthermore, the rust removal device also includes a second guide rail, a third guide rail, a third traveling mechanism, and a fourth traveling mechanism. The second guide rail and the third guide rail are arranged side by side at the opening of the U-rib and along the extension direction of the U-rib. The second guide rail is connected to the third traveling mechanism through its guide rod, and the third guide rail is connected to the fourth traveling mechanism through its guide rod. The third traveling mechanism is rotatably connected to the reflector, and the fourth traveling mechanism is rotatably connected to the light emitter.

[0015] Furthermore, a second servo motor is provided at one end of the second guide rail for rotating the guide rod of the second guide rail to drive the reflector; a third servo motor is provided at one end of the third guide rail for rotating the guide rod of the third guide rail to drive the light emitter.

[0016] Furthermore, the control component also includes a first displacement sensor disposed on the third traveling mechanism and a second displacement sensor disposed on the fourth traveling mechanism, for moving the position of the light emitter and / or the reflector, so that the light beam reflected by the reflector is adjusted to the rust-removing area inside the U-rib.

[0017] A rust removal method for the interior of a U-rib, using the aforementioned rust removal device to remove rust from the interior of the U-rib, includes the following steps:

[0018] S1. Receive the angle information of the light emitter and / or the reflector, as well as the position information of the rust-to-be-removed area inside the U-rib, analyze it, and send an angle command signal;

[0019] S2. Receive the angle command signal sent by the control center in step S1, adjust the rotation angle of the light emitter and / or the reflector, and reflect the light beam emitted by the light emitter through the reflector to illuminate the rust-removing area inside the U-rib and remove rust.

[0020] Furthermore, it also includes the following steps:

[0021] S3. Receive the position information of the light emitter and / or the reflector from the opening of the U-rib, analyze it and send a displacement command signal;

[0022] S4. Receive the displacement command signal sent by the control center in step S3, adjust the distance between the light emitter and / or the reflector and the opening of the U-rib, and reflect the light beam emitted by the light emitter through the reflector to illuminate the rust-removing area inside the U-rib and remove rust.

[0023] Furthermore, it also includes the following steps:

[0024] S0. Before step S1, the location information of the rust-to-be-removed area inside the U-rib is collected and transmitted to the control center.

[0025] Furthermore, it also includes the following steps:

[0026] S5. After completing the rust removal operation, check the effect of rust removal inside the U-rib and analyze whether it is necessary to perform rust removal again on the areas inside the U-rib where rust removal has been completed.

[0027] A rust removal system for the interior of a U-rib includes a light emitter and a reflector. The rust removal system is used to implement the aforementioned rust removal method for the interior of a U-rib. The rust removal system further includes:

[0028] The control center receives the position information of the rust-to-be-removed area inside the U-rib, the angle information of the light emitter and / or the reflector, and / or the position information of the light emitter and / or the reflector from the opening of the U-rib. After analysis, it sends angle command signals and / or displacement command signals.

[0029] Furthermore, the rust removal system also includes:

[0030] The control component includes a reflector angle sensor and a light emitter angle sensor, which receive angle command signals sent by the control center to adjust the rotation angle of the light emitter and / or the reflector, and reflect the light beam emitted by the light emitter through the reflector to illuminate the rust-to-be-removed area inside the U-rib.

[0031] Furthermore, the control component also includes:

[0032] The first displacement sensor and the second displacement sensor, the control component receives displacement command signals sent by the control center, and are used to adjust the distance between the light emitter and / or the reflector and the opening of the U-rib, so that the light beam emitted by the light emitter is reflected by the reflector and shines on the rust-to-be-removed area inside the U-rib.

[0033] Furthermore, the rust removal system also includes:

[0034] The second guide rail is disposed at the opening of the U-rib along the extending direction of the U-rib;

[0035] The third guide rail is arranged parallel to the second guide rail and is positioned at the opening of the U-rib along the extending direction of the U-rib.

[0036] The third traveling mechanism is connected at one end to the second guide rail and at the other end to the reflector;

[0037] The fourth walking mechanism is connected at one end to the third guide rail and at the other end to the light emitter.

[0038] Furthermore, the rust removal system also includes:

[0039] The second servo motor is connected to one end of the second guide rail and is used to rotate the guide rod of the second guide rail to drive the reflector;

[0040] The third servo motor is connected to one end of the third guide rail and is used to rotate the guide rod of the third guide rail to drive the light emitter.

[0041] Furthermore, the rust removal system also includes:

[0042] The detection and acquisition equipment is used to collect the location information of the rust-to-be-removed area inside the U-rib and transmit it to the control center.

[0043] Furthermore, the rust removal system also includes:

[0044] Inspection equipment is used to check the effectiveness of rust removal inside the U-rib after the rust removal operation is completed, and to analyze whether the areas inside the U-rib that have already undergone rust removal need to be treated again.

[0045] The rust removal device for the interior of a U-rib provided by this invention includes a light emitter, a reflector, a control center, and a control component. The light emitter emits a light beam, which, after being reflected by the reflector, changes its optical path. The control center receives angle information from the light emitter and / or the reflector, as well as the location information of the area to be rusted inside the U-rib. After comprehensive analysis, it sends an angle command signal to the control component. Upon receiving the angle command signal, the control component adjusts the rotation angle of the light emitter and / or the reflector, changing the path of the emitted light beam until the reflected light beam lands on the area to be rusted inside the U-rib. The light emitter is then activated to precisely remove rust from the area inside the U-rib.

[0046] Using the rust removal device, method, and system provided by this invention, through the combined use of the control center and control components, taking the bridge industry as an example, it can effectively and precisely clean the rust-removing area within the U-rib, improving rust removal efficiency and ensuring the quality of the rust removal operation. Furthermore, it provides a favorable welding environment for the application of U-rib overhead internal welding repair technology to weld and repair steel bridges, thereby effectively guaranteeing the quality of overhead internal welding repair of steel bridges and playing an important role in extending the service life of bridges. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the rust removal device for the interior of the U-rib according to the present invention;

[0048] Figure 2 A schematic diagram of the U-rib used in the rust removal device provided by the present invention for rust removal;

[0049] Figure 3 This is the first guide rail of the rust removal device of the present invention;

[0050] The attached diagram lists the components represented by each number as follows:

[0051] 1. U-rib, 2. First guide rail, 3. Light emitter, 4. Reflector. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] Throughout this article, unless otherwise specified, the U-ribs mentioned herein can be applied in any scenario in the fields of construction, bridges, and ships. To facilitate the explanation of the rust removal device, method, and system provided by this invention for the interior of U-ribs, the following description uses the interior rust removal of a bridge U-rib 1 as an example.

[0054] like Figures 1 to 3 As shown, according to the first technical solution provided by the present invention, a rust removal device for the interior of a U-rib includes a light emitter 3, a reflector 4, a control center (not shown), and a control component (not shown). The light emitter emits a light beam, which is reflected by the reflector 4, changing the light path of the beam. The control center receives the angle information of the light emitter 3 and / or the reflector 4, as well as the position information of the area to be rusted inside the U-rib 1. After comprehensive analysis, it sends an angle command signal to the control component. After receiving the angle command signal, the control component adjusts the rotation angle of the light emitter 3 and / or the reflector 4, changing the path of the light emitted by the light emitter 3, until the light beam reflected by the reflector 4 lands on the area to be rusted inside the U-rib 1. The light emitter 3 is then activated to precisely remove rust from the area to be rusted inside the U-rib 1.

[0055] Using the rust removal device provided by this invention, through the combined use of the control center and control components, taking the bridge field as an example, it can effectively and precisely clean the rust-removing area within the U-rib 1, improving rust removal efficiency and ensuring the quality of the rust removal operation. Furthermore, it provides a favorable welding environment for the application of U-rib overhead internal welding repair technology to weld and repair steel bridges, thereby effectively guaranteeing the quality of overhead internal welding repair of steel bridges and playing an important role in extending the service life of bridges.

[0056] In this embodiment, the emitter 3 is preferably a laser, emitting a laser beam. The laser beam can concentrate high energy onto the metal surface in a very short time, causing the rust layer to rapidly vaporize or peel off, greatly improving rust removal efficiency. Compared to traditional mechanical and chemical rust removal methods, laser rust removal machines can complete the cleaning of large amounts of rust layers in a short time. Laser rust removal does not require the use of chemical agents, avoiding the generation and treatment of chemical waste liquids, making it environmentally friendly and pollution-free. The laser rust removal machine can precisely clean rust layers of different thicknesses and materials by adjusting the focal length and power of the laser beam. It offers greater flexibility and will not damage the object itself.

[0057] In one specific embodiment, the light beam emitted by the emitter 3 can be infrared or ultraviolet light. Infrared light has a strong thermal effect, which can uniformly heat the metal surface, causing the rust layer to expand and separate from the metal substrate, thereby achieving the purpose of rust removal. This heating method can avoid metal deformation or damage caused by local overheating. Infrared rust removal equipment is relatively simple and easy to operate, requiring no professional technicians.

[0058] In this embodiment, a first guide rail 2 is provided at the opening of U-rib 1 and along its extension direction. The first guide rail 2, along the extension direction of U-rib 1, is sequentially connected to a first traveling mechanism and a second traveling mechanism via its guide rod. The first traveling mechanism is rotatably connected to a reflector 4, and the second traveling mechanism is rotatably connected to a light emitter 3. The arrangement of the first guide rail 2, the first traveling mechanism, and the second traveling mechanism helps to limit the relative position and movement path of the light emitter 3 and the reflector 4, enhancing the stability of the light emitter 3 and the reflector 4, effectively preventing the light beam's path from deviating too far from the area to be derusted, allowing for small adjustments to ensure the light beam's landing point reaches the area to be derusted. The first guide rail 2 and U-rib 1 can be detachably connected or independently configured. The first guide rail 2 carries the first and second traveling mechanisms; the first traveling mechanism carries the reflector 4; and the second traveling mechanism carries the light emitter 3. Through manual operation, the distance between the first and second traveling mechanisms and the opening of U-rib 1 can be moved, thereby adjusting the light beam's path. During manual operation, the distance between the first and second traveling mechanisms can also be adjusted, thereby adjusting the light beam's speed. It should be noted that, due to the attenuation of the laser, the power density of the laser beam during the rust removal process can be better controlled by adjusting the distance between the emitter 3 and the reflector 4, thereby ensuring that the laser power is sufficient to remove rust when irradiated from a distance.

[0059] In this embodiment, a first servo motor is provided at one end of the first guide rail 2 near the opening of the U-rib 1, replacing manual operation, reducing labor costs, and increasing accuracy. The first servo motor can be used to rotate the guide rod of the first guide rail 2 to drive the emitter 3 and the reflector 4, synchronously moving the distance between the first and second traveling mechanisms and the opening of the U-rib 1, thereby adjusting the optical path of the emitted beam. However, at this time, the optical path of the light speed cannot be changed by adjusting the distance between the first and second traveling mechanisms. It should be noted that the driving device can be a servo motor, or a hydraulic motor, a stepping motor, or other driving devices.

[0060] To optimize the above solution, in one specific embodiment, the rust removal device may further include a second guide rail, a third guide rail, a third traveling mechanism, and a fourth traveling mechanism. The second and third guide rails are arranged side-by-side at the opening of the U-rib 1 and along its extension direction. The second guide rail is connected to the third traveling mechanism via its guide rod, and the third guide rail is connected to the fourth traveling mechanism via its guide rod. The third traveling mechanism is rotatably connected to the reflector 4, and the fourth traveling mechanism is rotatably connected to the emitter 3. A second servo motor is provided at one end of the second guide rail to rotate the guide rod of the second guide rail and drive the reflector 4; a third servo motor is provided at one end of the third guide rail to rotate the guide rod of the third guide rail and drive the emitter 3. This configuration replaces manual operation and allows the first and second traveling mechanisms to move independently, enabling the change of the light path speed by adjusting the distance between the first and second traveling mechanisms.

[0061] In this embodiment, the control components include a reflector angle sensor, a light emitter angle sensor, a first displacement sensor, and a second displacement sensor. The reflector angle sensor and the light emitter angle sensor receive angle command signals sent by the control center to adjust the rotation angle of the light emitter 3 and / or the reflector 4, so that the light beam emitted by the light emitter 3 is reflected by the reflector 4 and illuminates the rust-to-be-removed area inside the U-rib 1. The first displacement sensor and the second displacement sensor receive displacement command signals sent by the control center to adjust the distance between the light emitter 3 and / or the reflector 4 and the opening of the U-rib 1, so that the light beam emitted by the light emitter 3 is reflected by the reflector 4 and illuminates the rust-to-be-removed area inside the U-rib 1. Specifically, the reflector angle sensor is mounted on the reflector 4, the light emitter angle sensor is mounted on the light emitter 3, the first displacement sensor is mounted on the third traveling mechanism, and the second displacement sensor is mounted on the fourth traveling mechanism.

[0062] According to the second technical solution provided by the present invention, the present invention provides a rust removal method for the interior of a U-rib, which uses the above-mentioned rust removal device to remove rust from the interior of the U-rib 1, specifically including the following steps:

[0063] S1. Receive the angle information of the light emitter 3 and / or the reflector 4, as well as the position information of the rust-to-be-removed area inside the U-rib 1, analyze it and send an angle command signal;

[0064] S2. Receive the angle command signal sent by the control center in step S1, adjust the rotation angle of the light emitter 3 and / or the reflector 4, and reflect the light beam emitted by the light emitter 3 onto the rust-to-be-removed area inside the U-rib 1 after reflection by the reflector 4 to remove rust.

[0065] Using the rust removal method provided by this invention, through the combined use of the control center and control components, taking the bridge field as an example, it can effectively and precisely clean the rust-removing area within the U-rib 1, improving rust removal efficiency and ensuring the quality of the rust removal operation. Furthermore, it provides a favorable welding environment for the application of U-rib overhead internal welding repair technology to weld and repair steel bridges, thereby effectively guaranteeing the quality of overhead internal welding repair of steel bridges and playing an important role in extending the service life of bridges.

[0066] In this invention, there are three main methods for changing the optical path of the light beam emitted by the emitter 3: Method 1: By adjusting the rotation angle of the emitter 3 and / or the reflector 4, the light beam reflected by the reflector 4 is adjusted to the rust-to-be-removed area inside the U-rib 1. Method 2: By moving the position of the emitter 3 and / or the reflector 4, the light beam reflected by the reflector 4 is adjusted to the rust-to-be-removed area inside the U-rib 1. Method 3: Combining Method 1 and Method 2, the light beam reflected by the reflector 4 is adjusted to the rust-to-be-removed area inside the U-rib 1.

[0067] As a preferred embodiment, the rust removal method provided by the present invention further includes the following steps:

[0068] S3. Receive the position information of the light emitter 3 and / or the reflector 4 at the opening of the U-rib 1, analyze it and send a displacement command signal;

[0069] S4. Receive the displacement command signal sent by the control center in step S3, adjust the distance between the light emitter 3 and / or the reflector 4 and the opening of the U-rib 1, and reflect the light beam emitted by the light emitter 3 onto the rust-to-be-removed area inside the U-rib 1 after reflection by the reflector 4 to remove rust.

[0070] As a preferred embodiment, the rust removal method provided by the present invention further includes the following steps:

[0071] S0. Before step S1, collect the location information of the rust-to-be-removed area inside U-rib 1 and transmit it to the control center.

[0072] S5. After completing the rust removal operation, check the effect of rust removal inside the U-rib and analyze whether it is necessary to perform rust removal again on the areas inside the U-rib where rust removal has been completed.

[0073] A specific rust removal operation inside the U-rib 1 can be performed using the following steps:

[0074] 1) Preparation: Fix the second and third guide rails to U-rib 1, and arrange them side-by-side at the opening of U-rib 1 along its extension direction. One end of the third traveling mechanism is connected to the guide rod of the second guide rail, and the other end is rotatably connected to the reflector 4. One end of the fourth traveling mechanism is connected to the guide rod of the third guide rail, and the other end is rotated and connected to the laser. A second servo motor is installed at one end of the second guide rail, and a third servo motor is installed at one end of the third guide rail. The reflector angle sensor is installed on the reflector 4, the emitter angle sensor is installed on the laser, the first displacement sensor is installed on the third traveling mechanism, and the second displacement sensor is installed on the fourth traveling mechanism. Install and connect the control center and control components, and turn on the power.

[0075] 2) Collect information, start the detection and acquisition equipment, collect the location information of the rust-to-be-removed area inside U-rib 1 and transmit it to the control center;

[0076] 3) Receive, analyze, and process information, start the control center, receive the angle information of the laser and / or reflector 4, the position information of the laser and / or reflector 4 from the opening of the U-rib 1, and the position information of the rust-to-be-removed area inside the U-rib 1, and send angle command signal and displacement command signal after analysis.

[0077] 4) Adjust the optical path of the laser beam, start the control component, receive the angle command signal and displacement command signal sent by the control center, adjust the rotation angle of the laser and / or the reflector 4 and the distance between the laser and / or the reflector 4 and the opening of the U rib 1, until the laser beam emitted by the laser is reflected by the reflector 4 and shines on the rust-to-be-removed area inside the U rib 1.

[0078] 5) Perform rust removal work, start the laser, and repeat step 4) during the rust removal process, adjusting the optical path of the laser beam in a timely manner until the rust removal work of the rust-to-be-removed area inside U rib 1 is completed.

[0079] 6) Inspect the rust removal effect, start the inspection equipment, check the rust removal effect inside U-rib 1, and analyze whether it is necessary to perform rust removal again on the areas inside U-rib that have already been rust removed.

[0080] According to the third technical solution provided by this invention, the rust removal method for the interior of the U-rib utilizes the rust removal system provided by this invention to remove rust from the interior of the U-rib 1. This method employs the coordinated use of equipment such as a reflector 4, a light emitter 3, a control center, control components, a first displacement sensor, a second displacement sensor, a reflector angle sensor, a light emitter angle sensor, a second guide rail, a third guide rail, a third traveling mechanism, a fourth traveling mechanism, a second servo motor, a third servo motor, detection and acquisition equipment, and inspection equipment. Taking the bridge industry as an example, this method can effectively and precisely clean the area to be rusted within the U-rib 1, improving rust removal efficiency and ensuring the quality of the rust removal operation. Furthermore, it provides a favorable welding environment for the application of U-rib overhead internal welding repair technology to weld and repair steel bridges, thereby effectively ensuring the quality of overhead internal welding repair of steel bridges and playing a crucial role in extending the service life of bridges.

[0081] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

[0082] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0083] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0084] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0085] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0086] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A rust removal device for the interior of a U-rib, characterized in that, include: A light emitter, used to emit a beam of light; A reflector is used to change the optical path of the light beam by reflection; The control center receives the position information of the rust-to-be-removed area inside the U-rib, the angle information of the light emitter and / or the reflector, and the position information of the light emitter and / or the reflector from the opening of the U-rib. After analysis, it sends angle command signal and displacement command signal. The control component receives angle command signals and displacement command signals sent by the control center, and is used to adjust the rotation angle of the light emitter and / or the reflector and the distance between the light emitter and / or the reflector and the opening of the U-rib, so that the light beam reflected by the reflector is adjusted to the rust-removing area inside the U-rib. The rust removal device further includes a second guide rail, a third guide rail, a third traveling mechanism, and a fourth traveling mechanism. The second guide rail and the third guide rail are arranged side by side at the opening of the U-rib and along the extension direction of the U-rib. The second guide rail is connected to the third traveling mechanism through its guide rod, and the third guide rail is connected to the fourth traveling mechanism through its guide rod. The third traveling mechanism is rotatably connected to the reflector, and the fourth traveling mechanism is rotatably connected to the light emitter.

2. The rust removal device for the interior of a U-rib according to claim 1, characterized in that, The light emitted by the emitter is a laser, infrared, or ultraviolet light.

3. The rust removal device for the interior of a U-rib according to claim 1, characterized in that, A second servo motor is provided at one end of the second guide rail for rotating the guide rod of the second guide rail to drive the reflector; a third servo motor is provided at one end of the third guide rail for rotating the guide rod of the third guide rail to drive the light emitter.

4. The rust removal device for the interior of a U-rib according to claim 3, characterized in that, The control component also includes a first displacement sensor disposed on the third traveling mechanism and a second displacement sensor disposed on the fourth traveling mechanism, for moving the position of the light emitter and / or the reflector, so that the light beam reflected by the reflector is adjusted to the rust-removing area inside the U-rib.

5. A rust removal method for the interior of U-ribs, characterized in that, Rust removal of the interior of the U-rib using the rust removal device as described in any one of claims 1-4 includes the following steps: S1. Receive the angle information of the light emitter and / or the reflector, as well as the position information of the rust-to-be-removed area inside the U-rib, analyze it, and send an angle command signal; S2. Receive the angle command signal sent by the control center in step S1, adjust the rotation angle of the light emitter and / or the reflector, and reflect the light beam emitted by the light emitter through the reflector to illuminate the rust-to-be-removed area inside the U-rib and remove rust. S3. Receive the position information of the light emitter and / or the reflector from the opening of the U-rib, analyze it and send a displacement command signal; S4. Receive the displacement command signal sent by the control center in step S3, adjust the distance between the light emitter and / or the reflector and the opening of the U-rib, and reflect the light beam emitted by the light emitter through the reflector to illuminate the rust-removing area inside the U-rib and remove rust.

6. The rust removal method for the interior of a U-rib according to claim 5, characterized in that, It also includes the following steps: S0. Before step S1, the location information of the rust-to-be-removed area inside the U-rib is collected and transmitted to the control center.

7. The rust removal method for the interior of a U-rib according to claim 5 or 6, characterized in that, It also includes the following steps: S5. After completing the rust removal operation, check the effect of rust removal inside the U-rib and analyze whether it is necessary to perform rust removal again on the areas inside the U-rib where rust removal has been completed.

8. A rust removal system for the interior of a U-rib, characterized in that, The rust removal system, comprising a light emitter and a reflector, is used to implement the rust removal method for the interior of a U-rib according to any one of claims 5-7, and further comprises: The control component includes a reflector angle sensor and a light emitter angle sensor, which receive angle command signals sent by the control center to adjust the rotation angle of the light emitter and / or the reflector, and reflect the light beam emitted by the light emitter through the reflector to illuminate the rust-to-be-removed area inside the U-rib.

9. The rust removal system for the interior of a U-rib according to claim 8, characterized in that, The rust removal system also includes: The detection and acquisition equipment is used to collect the location information of the rust-to-be-removed area inside the U-rib and transmit it to the control center.

10. The rust removal system for the interior of a U-rib according to claim 8, characterized in that, The rust removal system also includes: Inspection equipment is used to check the effectiveness of rust removal inside the U-rib after the rust removal operation is completed, and to analyze whether the areas inside the U-rib that have already undergone rust removal need to be treated again.

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